Robot system

ABSTRACT

A robot system includes a robot including a tactile sensor and a hand having the tactile sensor, a tactile information generator configured to generate tactile information defined by a pressure distribution based on pressures detected by a plurality of pressure sensors and spatial positions of the plurality of pressure sensors, and output the tactile information, a manipulator configured to make an operator sense the pressure distribution according to the tactile information outputted from the tactile information generator, and when the operator manipulates the manipulator, output manipulating information according to the manipulation, and a robot controller configured to control operation of the hand of the robot according to the manipulating information outputted from the manipulator.

TECHNICAL FIELD

The present disclosure relates to a robot system.

BACKGROUND ART

Conventionally, robot control systems utilizing tactile are known. Forexample, a manipulating device which manipulates a mobile robot whileobtaining a force feedback between a joystick and the mobile robot, isknown (e.g., see Patent Document 1). Moreover, a robot hand providedwith a tactile sensor system is known (e.g., see Patent Document 2).Moreover, a pressure-distribution information detecting device which isprovided with tactile sensors at a robot hand, and controls the robothand based on a pressure distribution detected by the tactile sensors,is known (e.g., see Patent Document 3).

REFERENCE DOCUMENTS OF CONVENTIONAL ART Patent Documents

[Patent Document 1] JP2009-282720A

[Patent Document 2] JP2014-145717A

[Patent Document 3] JP2014-145717A

DESCRIPTION OF THE DISCLOSURE Problems to be Solved by the Disclosure

However, such conventional technologies still have room for animprovement in terms of practicality.

One purpose of the present disclosure is to improve practicality of arobot system which remotely controls a robot based on tactileinformation defined by a pressure distribution.

SUMMARY OF THE DISCLOSURE

The present inventors have diligently examined the problems describedabove in order to solve them. The present inventors have focused on awork to be performed by a human not utilizing “force sensation” that ismerely a force or pressure, but utilizing essential “tactile,” i.e., apressure distribution which the human's hand senses. Such a work may be,for example, a work to scoop up soil by hand, a work to grip abar-shaped member by hand, etc. Thus, the present inventors came up withan idea to make a hand of the robot perform such a work.

Meanwhile, the manipulating device disclosed in Patent Document 1controls using the “force sensation,” but does not use the essential“tactile.” The robot hand disclosed in Patent Document 2 uses the“tactile” defined by the pressure distribution, but it is difficult tocontrol the operation of the robot hand exactly like the human performsthe work because the operation of the robot hand is controlled by anarithmetic processing part based on detection outputs of the tactilesensors. Since also in the pressure-distribution information detectingdevice disclosed in Patent Document 3, a behavior control devicecontrols the operation of the robot hand based on the pressuredistribution detected by the tactile sensors similar to the robot handdisclosed in Patent Document 2, it is difficult to control the operationof the robot hand exactly like the human performs the work.

Thus, the present inventors have arrived at that the human judgesoperation to be performed by the robot hand based on detection outputsof the tactile sensors provided to the robot hand, and instructs exactoperation to the robot hand Therefore, the operation of the robot handis able to be controlled exactly like the human performs the work.

Thus, a robot system according to one aspect of the present disclosureincludes a robot including a tactile sensor having a plurality ofpressure sensors disposed at mutually different spatial positions, and ahand having the tactile sensor, a tactile information generatorconfigured to generate tactile information defined by a pressuredistribution based on pressures detected by the plurality of pressuresensors and spatial positions of the plurality of pressure sensors, andoutput the tactile information, a manipulator configured to make anoperator sense the pressure distribution according to the tactileinformation outputted from the tactile information generator, and whenthe operator manipulates the manipulator, output manipulatinginformation according to the manipulation, and a robot controllerconfigured to control operation of the hand of the robot according tothe manipulating information outputted from the manipulator.

According to this configuration, when the tactile sensor having theplurality of pressure sensors arranged at mutually different spatialpositions detects an object at the hand of the robot, the tactileinformation generator generates the tactile information defined by thepressure distribution based on the pressures detected by the pluralityof pressure sensors and the spatial positions of the plurality ofpressure sensors, and outputs the sensible tactile information. Then,the manipulator makes the operator sense the pressure distributionaccording to the tactile information outputted from the tactileinformation generator. The operator grasps the tactile detected by thetactile sensor from the pressure distribution and, based on the graspedtactile, operates the manipulator to manipulate the robot so that therobot performs a suitable work. Then, the manipulator outputs themanipulating information corresponding to the manipulation to the robotcontroller, and the robot controller controls the operation of the handof the robot according to the manipulating information. Thus, theoperator judges the operation to be performed by the hand of the robotbased on the detection output of the tactile sensor which the hand ofthe robot has. Since exact operation is able to be instructed to thehand of the robot, the operation of the hand of the robot iscontrollable exactly like the human performing the work. As a result, apracticality of the robot system in which the robot is remotelycontrolled based on the tactile information defined by the pressuredistribution is improved.

The manipulator may include a manipulator body being operated by theoperator, a plurality of mechanical stimulators, provided to themanipulator body corresponding to the plurality of pressure sensors, andconfigured to give a mechanical stimulation distribution according tothe pressure distribution defining the tactile information outputtedfrom the tactile information generator, to the hand of the operator whomanipulates the manipulator, and a manipulation detector configured todetect the manipulation to the manipulator body, and output the detectedmanipulation as the manipulating information.

According to this configuration, since the manipulator includes themanipulator body being operated by the operator and a plurality ofpressing elements provided to the manipulator body corresponding to theplurality of pressure sensors give the mechanical stimulationdistribution according to the pressure distribution defining the tactileinformation outputted from the tactile information generator, to thehand of the operator who manipulates the manipulator, the operator isable to grasp the tactile detected by the tactile sensor based on themechanical stimulation distribution. Meanwhile, since the manipulationdetector detects the manipulation to the manipulator body and outputsthe detected manipulation as the manipulating information, the operatoris able to instruct the exact operation to the hand of the robot whilegrasping the tactile detected by the tactile sensor, only by themanipulator.

The plurality of mechanical stimulators may be a plurality of pressingelements configured to give a pressing-force distribution according tothe pressure distribution defining the tactile information outputtedfrom the tactile information generator, to the hand of the operator whomanipulates the manipulator.

According to this configuration, since the plurality of pressingelements give the pressing-force distribution according to the pressuredistribution defining the tactile information, to the hand of theoperator, the operator is able to instinctively grasp the pressuredistribution detected by the plurality of pressure sensors through thetactile information.

The pressing element may be a piezo-electric element.

According to this configuration, the pressing element can suitably beconfigured.

The plurality of mechanical stimulators may be a plurality ofoscillators configured to give an oscillating distribution according tothe pressure distribution defining the tactile information outputtedfrom the tactile information generator, to the hand of the operator whomanipulates the manipulator.

According to this configuration, since the plurality of oscillators givethe oscillating distribution according to the pressure distributiondefining the tactile information, to the hand of the operator, it iseasier for the operator to distinguish parts of the hand where forcesare acted, compared with the case where the mechanical stimulationswhich the hand received are, for example, simply the pressing forces.

The manipulator body of the manipulators may be a glove being worn bythe operator.

According to this configuration, since the manipulator body can beconfigured by the glove corresponding to either one of the left andright hands of the robot, grasping of the tactile detected by thetactile sensor and the operational instruction to the hand of the robotcan suitably be performed by one hand

The manipulation detector may include a displacement sensor provided tothe manipulator body of the manipulator, and may be configured to detectthe manipulation to the manipulator body based on a displacement of themanipulator body detected by the displacement sensor.

According to this configuration, the manipulation to the manipulatorbody can suitably be detected. [Effect of the Disclosure]

The present disclosure is configured as described above, and it iscapable of improving the practicality of the robot system which remotelycontrols the robot based on the tactile information defined by thepressure distribution.

BRIEF DESCRIPTION OF DRAWINGS

FIG. 1 is a schematic diagram illustrating one example of aconfiguration of a robot system according to Embodiment 1 of the presentdisclosure.

FIG. 2 is a plan view illustrating one example of a configuration of amanipulator glove for the right hand as a manipulator used for the robotsystem of FIG. 1.

FIG. 3 is a plan view illustrating one example of a configuration of amanipulator glove for the left hand as the manipulator used for therobot system of FIG. 1.

FIG. 4 is a perspective view illustrating one example of a configurationof hands of a robot of FIG. 1.

FIG. 5 is a plan view illustrating one example of the configuration ofthe hands of the robot of FIG. 1.

FIGS. 6(a) and (b) are schematic diagrams illustrating a soil-scoopingwork by the hands of the robot of FIG. 4, where (a) is a perspectiveview illustrating postures of the manipulators, and (b) is a perspectiveview illustrating a state where the hands of the robot are scooping upsoil.

FIGS. 7(a) and (b) are schematic diagrams illustrating the soil-scoopingwork by the hands of the robot of FIG. 4, where (a) is a perspectiveview illustrating postures of the manipulators, and (b) is a perspectiveview illustrating a state where the hands of the robot scooped up soil.

FIG. 8 is a plan view illustrating one example of a configuration of amanipulator glove for the right hand as a manipulator used for a robotsystem according to Embodiment 2 of the present disclosure.

FIG. 9 is a plan view illustrating one example of a configuration of amanipulator glove for the left hand as the manipulator used for therobot system according to Embodiment 2 of the present disclosure.

FIG. 10 is a plan view illustrating one example of a configuration ofhands of a robot used for the robot system according to Embodiment 2 ofthe present disclosure.

FIGS. 11(a) and (b) are schematic diagrams illustrating a gripping workof a bar-shaped member by the hands of the robot of FIG. 10, where (a)is a perspective view illustrating postures of the manipulators, and (b)is a perspective view illustrating a state where the hands of the robotgripped the bar-shaped member.

FIG. 12 is a plan view illustrating one example of a configuration of amanipulator glove for the right hand as a manipulator used for a robotsystem according to Embodiment 3 of the present disclosure.

FIG. 13 is a plan view illustrating one example of a configuration of amanipulator glove for the left hand as the manipulator used for therobot system according to Embodiment 3 of the present disclosure.

FIG. 14 is a plan view illustrating one example of a configuration of amanipulator glove for the right hand as a manipulator used for a robotsystem according to Embodiment 4 of the present disclosure.

FIG. 15 is plan view illustrating one example of a configuration of amanipulator glove for the left hand as the manipulator used for therobot system according to Embodiment 4 of the present disclosure.

MODES FOR CARRYING OUT THE DISCLOSURE

Hereinafter, embodiments of the present disclosure will be describedwith reference to the accompanying drawings. Note that, below,throughout the figures, the same reference characters are given to thesame or corresponding elements to omit redundant description.

Embodiment 1 [Configuration]

FIG. 1 is a schematic diagram illustrating one example of aconfiguration of a robot system according to Embodiment 1 of the presentdisclosure.

Referring to FIG. 1, a robot system 100 of Embodiment 1 includes a robot1, a manipulator 2, a control device 3, tactile sensors 5, an inputdevice 9, a camera 10, and a monitor 11. The robot 1 may be comprised ofany type of robot. In Embodiment 1, the robot 1 is comprised of, forexample, a well-known articulated robot, and includes a pedestal 1 a, anarticulated arm 1 b provided to the pedestal 1 a, and a wrist 1 cprovided to a tip end of the arm 1 b. The wrist 1 c is attached to thearm 1 b so as to be rotatable about an extending axis of arm memberswhich constitute a tip-end part of the arm 1 b. An arm 4 of a scalartype dual-arm robot is attached to the wrist 1 c as an end effector. Thearm 4 of the dual-arm robot includes, for example, a common arm member 4a, a right first arm member 4 b, a right second arm member 4 c, a righthand 4 d, a left first arm member 4 e, and a left second arm member 4 f,and a left hand 4 g. The common arm member 4 a is attached to the wrist1 c so as to extend along an axis perpendicular to a rotational axis ofthe wrist 1 c.

A base-end part of the right first arm member 4 b is attached to one endof the common arm member 4 a so as to be rotatable about an axis whichis perpendicular to the rotational axis of the wrist 1 c and an axisperpendicular to the rotational axis of the wrist 1 c. A base-end partof the right second arm member 4 c is attached to the other end of theright first arm member 4 b so as to be rotatable about an axis parallelto the rotational axis of the right first arm member 4 b. A base-endpart of the right hand 4 d is attached to a tip end of the right secondarm member 4 c so as to be rotatable about an axis perpendicular to arotational axis of the right second arm member 4 c.

Moreover, a base-end part of the left first arm member 4 e is attachedto the other end of the common arm member 4 a so as to be rotatableabout an axis perpendicular to the rotational axis of the wrist 1 c andan axis perpendicular to the rotational axis of the wrist 1 c. Abase-end part of the left second arm member 4 f is attached to the otherend of the left first arm member 4 e so as to be rotatable about an axisparallel to the rotational axis of the left first arm member 4 e. Abase-end part of the left hand 4 g is attached to a tip end of the leftsecond arm member 4 f so as to be rotatable about an axis perpendicularto the rotational axis of the left second arm member 4 f.

Each of the members 4 a to 4 g is driven while being position-controlledby servo motors (not illustrated). Thus, the robot 1 is capable ofmoving each of the right hand 4 d and the left hand 4 g in anydirections with any postures.

The control device 3 includes a robot controller 6, a tactileinformation generator 7, and a monitor controller 8. The control device3 is comprised of a device having arithmetic processing capabilities,such as a computer, a microcontroller, or a microprocessor. The robotcontroller 6, the tactile information generator 7, and the monitorcontroller 8 are implemented by an arithmetic processing part (notillustrated) of the control device 3 executing a given program stored ina memory part (not illustrated) of the control device 3. The hardwareconfiguration of the control device 3 is arbitrary, and the controldevice 3 may be provided independently from other devices of the robot 1etc., or may be provided integrally with other devices.

The input device 9 is comprised of a man-machine interface, such as atouch panel and/or a keyboard. The input device 9 is mainly used inorder to input various data etc. The information inputted into the inputdevice 9 is transmitted to the robot controller 6.

The camera 10 is provided so as to be able to image operation of therobot 1 within part or all of a movable range of the robot 1. The imageinformation imaged by the camera 10 is transmitted to the monitorcontroller 8. The monitor controller 8 controls the monitor 11 todisplay an image corresponding to the image information.

A tactile sensor 5 is provided to each of the right hand 4 d and theleft hand 4 g. The tactile sensor 5 includes a plurality of pressuresensors 51 (see FIG. 5) at given spatial positions, and transmitspressures detected by the plurality of pressure sensors 51 to thetactile information generator 7, as will be described later.

The tactile information generator 7 generates tactile informationdefined by a pressure distribution based on the pressures detected bythe plurality of pressure sensors 51 and the spatial positions of theplurality of pressure sensors 51, and transmits (outputs) the tactileinformation to the manipulator 2.

The manipulator 2 is configured so as to make an operator 12 sense thepressure distribution according to the tactile information outputtedfrom the tactile information generator 7, and when the operator 12manipulates the manipulator 2, output manipulating information accordingto the manipulation. The concrete configuration of the manipulator 2will be described later.

The robot controller 6 controls the operation of the robot 1 based onthe information inputted into the input device 9 and the manipulatinginformation transmitted from the manipulator 2. Here, those informationare suitably stored in the memory part of the control device 3.

By the above configuration, the operator 12 is able to operate the robot1 as he/she intended by manipulating the manipulator 2 while looking atthe monitor 11 and sensing through the tactile information the pressuredistribution detected by the tactile sensor 5. Note that, when theoperator 12 performs manipulation exceeding the movable range of therobot 1 to the manipulator 2, the operation of the robot 1 is restrictedto the movable range.

FIG. 2 is a plan view illustrating one example of a configuration of amanipulator glove for the right hand as the manipulator, and FIG. 3 is aplan view illustrating one example of a configuration of a manipulatorglove for the left hand

Referring to FIGS. 2 and 3, the manipulator 2 is comprised of, forexample, a manipulator glove 2A for the right hand and a manipulatorglove 2B for the left hand, which are worn by the operator 12. Since themanipulator glove 2A for the right hand and the manipulator glove 2B forthe left hand are bilaterally symmetrical, only the manipulator glove 2Afor the right hand will be described below and description of themanipulator glove 2B for the left hand will be omitted.

The manipulator glove 2A for the right hand includes a glove 20 as amanipulator body which is manipulated by the operator 12, a plurality ofpressing elements 21 which are provided to the glove 20 corresponding tothe plurality of pressure sensors 51 of the tactile sensor 5 (see FIG.5), and give to the hand (right hand) of the operator 12 apressing-force distribution according to the pressure distribution whichdefines the tactile information outputted from the tactile informationgenerator 7 (see FIG. 1), and a manipulation detector 22 which detectsmanipulation to the glove 20 and outputs the detected manipulation asthe manipulating information. Specifically, the glove 20 is comprisedof, for example, cloth formed in the shape of a glove. The kind of clothis not limited in particular. This cloth may be, for example, a mainbody of the glove, and it may have a thick base cloth formed in theshape of a glove, and a covering cloth thinner than the base cloth,which covers an inner surface (a surface on the inserted hand side) ofthe base cloth of the shape of a glove. The pressing elements 21 aredisposed, for example, at given positions as illustrated in FIG. 2.Specifically, the plurality of pressing elements 21 are provided to, forexample, portions of the glove 20 corresponding to tips of the fingersand the thumb of a person, and palm-side portions between joints, andthe palm. Relative positions of the plurality of pressing elements 21 inthe glove 20 correspond to relative positions of the plurality ofpressure sensors 51 in a main body 41 a (and 42 a) of the handillustrated in FIG. 5. The pressing element 21 is provided on thesurface of the base cloth so that a movable part thereof moves forwardfrom the base cloth to the covering cloth and backward. According to theconfiguration, the movable part of the pressing element 21 moves forwardto act a pressing force on the operator's hand. The pressing element 21may be such that the movable part moves forward and backward accordingto the pressure detected by the pressure sensor 51. The pressing element21 may be, for example, a piezo-electric element, or an air cell whichinflates and deflate by air supplied and discharged. The tactileinformation generator 7 transmits the tactile information to theplurality of pressing elements 21 through signal wires (notillustrated).

The manipulation detector 22 is configured to detect the manipulation tothe glove 20 based on displacement of the glove as the manipulator body.Specifically, the manipulation detector 22 is comprised of adisplacement sensor. The displacement sensor may be an accelerationsensor, a gyroscope sensor, etc. Here, the manipulation detector 22 iscomprised of a gyroscope sensor. If it is the gyroscope sensor, thedisplacement of the glove 20 and a change in the posture are detectableby a single sensor. Here, the manipulation detector 22 is provided tothe outside of the glove (back side of the hand) in a central part ofthe glove 20 in the plan view. The detection output (manipulatinginformation) of the manipulation detector 22 is transmitted to the robotcontroller 6 through signal wires (not illustrated).

FIG. 4 is a perspective view illustrating one example of a configurationof hands 4 d and 4 g. FIG. 5 is a plan view illustrating one example ofthe configuration of the hands 4 d and 4 g.

Referring to FIGS. 4 and 5, the right hand 4 d and the left hand 4 g areconfigured in the shape which imitates person's hands. Since the righthand 4 d and the left hand 4 g are bilaterally symmetrical, only theright hand 4 d is described below to omit description of the left hand 4g. Moreover, in FIG. 4, in order to make the figure intelligible,illustration of the pressure sensors is omitted.

The right hand 4 d has a main body 41 a and an attaching part 41 b. Themain body 41 a is formed entirely in the shape of a shallow container,and the contour of an opening thereof is formed in the shape imitating aperson's hand. This is for clarifying a correspondence relation with themanipulator glove 2A. Note that the shape of the opening is arbitrary aslong as it is designed so that the correspondence relation is clear. Forexample, it may be a circle. The attaching part 41 b for attaching themain body 41 a to the tip end of the right second arm member 4 c isprovided to a base-end part of the main body 41 a. The attaching part 41b is attached to the tip end of the right second arm member 4 c so as tobe rotatable through a rotating mechanism (not illustrated).

Referring to FIG. 5, the plurality of pressure sensors 51 are providedto the right hand 4 d. The plurality of pressure sensors 51 are providedso as to protrude from an inner surface of the main body 41 a at givenpositions. Specifically, the plurality of pressure sensors 51 areprovided, for example, in the main body 41 a, to portions correspondingto tips of the fingers and thumb of a person, and palm-side portionsbetween joints, and the palm. The relative positions of the plurality ofpressure sensors 51 in the main body 41 a correspond to the relativepositions of the plurality of pressing elements 21 in the glove 20illustrated in FIG. 2.

The pressure sensor 51 may be, for example, a piezo-electric element.The detection outputs of the plurality of pressure sensors 51 aretransmitted to the tactile information generator 7 through signal wires(not illustrated).

The positions of the plurality of pressure sensors 51 in the main body41 a (and 41 b) are stored in the memory part (not illustrated) of thecontrol device 3. The tactile information generator 7 described abovegenerates the tactile information defined by the pressure distributionbased on the pressures detected by the plurality of pressure sensors 51disposed in this way, and the positions (spatial positions) of theplurality of pressure sensors 51 in the inner surface of the main body41 a which are stored in the memory part of the control device 3.

[Operation]

Next, operation of the robot system 100 configured as described above isdescribed using FIGS. 1 to 7. Here, a work in which the right hand 4 dand the left hand 4 g of the robot 1 scoop up soil 60 piled in the shapeof a mountain at a given location is described as an example.

FIGS. 6(a) and (b) are schematic diagrams illustrating the soil-scoopingwork by the hands of the robot of FIG. 4, where (a) is a perspectiveview illustrating postures of the manipulators, and (b) is a perspectiveview illustrating a state where the hands of the robot are scooping upsoil. FIGS. 7(a) and (b) are schematic diagrams illustrating thesoil-scooping work by the hands of the robot of FIG. 4, where (a) is aperspective view illustrating postures of the manipulators, and (b) is aperspective view illustrating a state where the hands of the robotscooped up soil.

The operator 12 wears the manipulator glove 2A for the right hand andthe manipulator glove 2B for the left hand on right and left hands,respectively. Then, while looking at the monitor 11, the operator movesthe manipulator glove 2A for the right hand and the manipulator glove 2Bfor the left hand so that the right hand 4 d and the left hand 4 g ofthe robot 1 approaches the soil 60 piled in the shape of a mountain.Then, the respective manipulation detectors 22 detect the movements ofthe manipulator glove 2A and the manipulator glove 2B for the left hand,and transmit the detection outputs to the manipulating information andthe robot controller 6. The robot controller 6 controls the operation ofthe right hand 4 d and the left hand 4 g of the robot 1 according to themanipulating information. Thus, the right hand 4 d and the left hand 4 gapproach the soil 60 piled in the shape of a mountain.

Next, as illustrated in FIG. 6(a), the operator 12 moves the manipulatorglove 2A for the right hand and the manipulator glove 2B for the lefthand forward away from the operator in a state where the palms areturned upwardly and both hands are put together side by side. Then, therespective manipulation detectors 22 detect the postures and themovements of the manipulator glove 2A for the right hand and themanipulator glove 2B for the left hand, and as a result, the right hand4 d and the left hand 4 g are inserted into the soil 60 piled in theshape of a mountain.

Then, in the right hand 4 d and the left hand 4 g, the pressure sensors51 disposed at portions where the soil are placed detect the pressures,and transmit them to the tactile information generator 7. Then, thetactile information generator 7 generates the tactile informationdefined by the pressure distribution based on the pressures detected bythe pressure sensors 51, and the positions of the pressure sensors 51(positions in the main body 41 a of the right hand 4 d and the main body42 b of the left hand 4 g), and transmits it to the plurality ofpressing elements 21 of the manipulator glove 2A for the right hand andthe plurality of pressing elements 21 of the manipulator glove 2B forthe left hand

Then, in the manipulator glove 2A for the right hand and the manipulatorglove 2B for the left hand, the movable parts of the pressing elements21 corresponding to the pressure sensors 51 disposed at the portionswhere the soil are placed move forward. Thus, since an inner surface ofthe left hand and an inner surface of the right hand of the operator 12are pressed by the pressing elements 21, the operator 12 is able tosense where in the right hand 4 d and the left hand 4 g the soil 60 areplaced, and the weight of the placed soil 60.

Then, while the operator sensing that, he/she moves the manipulatorglove 2A for the right hand and the manipulator glove 2B for the lefthand forward, and when the operator senses that the soil 60 are placedentirely on the right hand 4 d and the left hand 4 g, stops themanipulator glove 2A for the right hand and the manipulator glove 2B forthe left hand, and as illustrated in FIG. 7(a), then leans themanipulator glove 2A for the right hand and the manipulator glove 2B forthe left hand inwardly by a slight angle, and then moves the manipulatorglove 2A for the right hand and the manipulator glove 2B for the lefthand upwardly.

Thus, as illustrated in FIG. 7(b), the right hand 4 d and the left hand4 g move upwardly after they are inclined inwardly by the slight angle,and, as a result, the soil 60 are scooped up by the right hand 4 d andthe left hand 4 g. This work is especially effective when the camera 10is not able to check how much soil 60 are placed on the right hand 4 dand the left hand 4 g, due to the dead angle of the camera 10 etc.

As described above, according to Embodiment 1, since the operator 12 isable to sense the detection outputs of the tactile sensors 5 which theright hand 4 d and the left hand 4 g of the robot 1 have through theplurality of pressing elements 21 of the manipulator glove 2A for theright hand and the manipulator glove 2B for the left hand, respectively,the operator 12 is able to judge the operation to be performed by theright hand 4 d and the left hand 4 g of the robot 1 based on the sense,and instructs exact operation to the right hand 4 d and the left hand 4g of the robot 1, the operation of the right hand 4 d and the left hand4 g of the robot 1 can be controlled exactly like the human performs thework. As a result, the practicality of the robot system in which therobot 1 is remotely controlled based on the tactile information definedby the pressure distribution is improved.

Embodiment 2

Embodiment 2 of the present disclosure is different from Embodiment 1 inthe configuration of the hands of the robot 1, and other configurationsare substantially the same as those of Embodiment 1. Hereinafter, thedifference is described.

FIG. 8 is a plan view illustrating one example of a configuration of amanipulator glove for the right hand as a manipulator used for a robotsystem according to Embodiment 2 of the present disclosure. FIG. 9 is aplan view illustrating one example of a configuration of a manipulatorglove for the left hand as the manipulator used for the robot systemaccording to Embodiment 2 of the present disclosure. FIG. 10 is a planview illustrating one example of a configuration of the hands of therobot used for the robot system according to Embodiment 2 of the presentdisclosure.

Referring to FIGS. 8 and 9, in Embodiment 2, a plurality of displacementsensors are disposed as the manipulation detectors 22 near the pluralityof pressing elements 21, respectively, in the manipulator glove 2A forthe right hand and the manipulator glove 2B for the left hand ofEmbodiment 1 illustrated in FIGS. 2 and 3. Here, the displacement sensoris comprised of an acceleration sensor. This is because that, byproviding the plurality of acceleration sensors, each of the postures ofthe manipulator glove 2A for the right hand and the manipulator glove 2Bfor the left hand is detectable. Moreover, in Embodiment 2, the pressingelements 21 disposed at the thumb portion are omitted but only themanipulation detectors 22 are disposed at the thumb portion, in themanipulator glove 2A for the right hand and the manipulator glove 2B forthe left hand of Embodiment 1 illustrated in FIGS. 2 and 3. That isbecause that, when gripping a bar-shaped member 110 (see FIG. 11), thepressing elements 21 are unnecessary in the inner surface thereof sincethe thumb portion contacts the bar-shaped member at the side surfacethereof.

Referring to FIG. 10, in Embodiment 2, the right hand 4 d and the lefthand 4 g of the robot 1 are provided with joints corresponding to thejoints of person's hands. These joints are driven, for example, whilebeing position-controlled by servo motors. Note that the referencecharacters 61 a and 61 b indicate a main body and an attaching part ofthe right hand 4 d, respectively, and the reference characters 62 a and62 b indicate a main body and an attaching part of the left hand 4 g,respectively.

FIGS. 11(a) and (b) are schematic diagrams illustrating a gripping workof the bar-shaped member 110 by the hands of the robot of FIG. 10, where(a) is a perspective view illustrating postures of the manipulators, and(b) is a perspective view illustrating a state where the hands of therobot gripped the bar-shaped member 110.

According to Embodiment 2, in a state where the right hand 4 d and theleft hand 4 g of the robot 1 are located above the bar-shaped member110, as illustrated in FIG. 11(a), when the operator 12 manipulates togrip the manipulator glove 2A for the left hand and the manipulatorglove 2B for the right hand, the plurality of manipulation detectors 22of the manipulator glove 2A for the left hand and the manipulator glove2B for the right hand detect the manipulation, and transmit themanipulating information to the robot controller 6. The robot controller6 controls the operation of the right hand 4 d and the left hand 4 g ofthe robot 1 of the robot 1 according to the manipulating information.Thus, as illustrated in FIG. 11(b), the right hand 4 d and the left hand4 g of the robot 1 grip the bar-shaped member 110, respectively. Theoperator 12 grips the manipulator glove 2A for the left hand and themanipulator glove 2B for the right hand so as to tighten the grippinggradually, while sensing the pressure distribution detected by theplurality of pressure sensors 51 of the right hand 4 d and the left hand4 g through the pressing forces of the plurality of pressing elements 21of the manipulator glove 2A for the left hand and the manipulator glove2B for the right hand, respectively, and when the sensed pressing forcesof the plurality of pressing elements 21 reach a desired pressing force,stops the gripping operation of the manipulator glove 2A for the lefthand and the manipulator glove 2B for the right hand Thus, the righthand 4 d and the left hand 4 g of the robot 1 grip the bar-shaped member110 with suitable pressures.

Therefore, also according to Embodiment 2, the operations of the righthand 4 d and the left hand 4 g of the robot 1 are controllable exactlylike the human performs the work, and as a result, the practicality ofthe robot system 100 in which the robot 1 is remotely controlled basedon the tactile information defined by the pressure distribution isimproved.

Embodiment 3

FIG. 12 is a plan view illustrating one example of a configuration of amanipulator glove for the right hand as a manipulator used for a robotsystem according to Embodiment 3 of the present disclosure. FIG. 13 is aplan view illustrating one example of a configuration of a manipulatorglove for the left hand as the manipulator used for the robot systemaccording to Embodiment 3 of the present disclosure.

In Embodiment 3, oscillators (vibrators) 121 are provided in themanipulator glove for the right hand and the manipulator glove for theleft hand illustrated in FIGS. 2 and 3, respectively, instead of thepressing elements 21. Other configurations are similar to those ofEmbodiment 1.

The oscillator 121 vibrates with amplitude according to the pressuredetected by the corresponding pressure sensor 51.

According to such Embodiment 3, it is easier for the operator todistinguish the parts of the hands where forces are acted, compared withthe case where the mechanical stimulations which the hands received are,for example, simply the pressing forces.

Embodiment 4

FIG. 14 is a plan view illustrating one example of a configuration of amanipulator glove for the right hand as a manipulator used for a robotsystem according to Embodiment 4 of the present disclosure. FIG. 15 is aplan view illustrating one example of a configuration of a manipulatorglove for the left hand as the manipulator used for the robot systemaccording to Embodiment 3 of the present disclosure.

In Embodiment 4, oscillators (vibrators) 121 are provided in themanipulator glove for the right hand and the manipulator glove for theleft hand illustrated in FIGS. 8 and 9, respectively, instead of thepressing elements 21. Other configurations are similar to those ofEmbodiment 2.

The oscillator 121 vibrates with amplitude according to the pressuredetected by the corresponding pressure sensor 51.

According to such Embodiment 4, it is easier for the operator todistinguish the parts of the hands where forces are acted, compared withthe case where the mechanical stimulations which the hands received are,for example, simply the pressing forces.

Other Embodiments

In any of Embodiments 1 to 4 described above, the robot 1 may becomprised of a dual-arm robot, for example.

Alternatively, in any of Embodiments 1 to 4 described above, the righthand 4 d and the left hand 4 g of the robot 1 may also be configuredsuitable for works.

Alternatively, in any of Embodiments 1 to 4 described above, themanipulator body may be other than the glove. For example, it may be afingerstall or thumbstall.

It is apparent for a person skilled in the art that many improvementsand other embodiments of the present disclosure are possible from theabove description. Therefore, the above description is to be interpretedonly as illustration, and it is provided in order to teach a personskilled in the art the best mode that implements the present disclosure.Details of the structures and/or the functions may substantially bechanged without departing from the spirit of the present disclosure.

INDUSTRIAL APPLICABILITY

The robot system of the present disclosure is useful as the robot systemwith improved practicality.

DESCRIPTION OF REFERENCE CHARACTERS

-   1 Robot-   2 Manipulator-   2A Manipulator Glove for the Right Hand-   2B Manipulator Glove for the Left Hand-   3 Control Device-   4 Arm of Scalar Type Dual-arm Robot-   5 Tactile Sensor-   6 Robot Controller-   7 Tactile Information Generator-   8 Monitor Controller-   9 Input Device-   10 Camera-   11 Monitor-   12 Operator-   20 Glove-   21 Pressing Elements-   22 Manipulation Detector-   51 Pressure Sensor-   60 Soil-   100 Robot System-   110 Bar-shaped Member-   121 Oscillator

1. A robot system, comprising: a robot including a tactile sensor havinga plurality of pressure sensors disposed at mutually different spatialpositions, and a hand having the tactile sensor; a tactile informationgenerator configured to generate tactile information defined by apressure distribution based on pressures detected by the plurality ofpressure sensors and spatial positions of the plurality of pressuresensors, and output the tactile information; a manipulator configured tomake an operator sense the pressure distribution according to thetactile information outputted from the tactile information generator,and when the operator manipulates the manipulator, output manipulatinginformation according to the manipulation; and a robot controllerconfigured to control operation of the hand of the robot according tothe manipulating information outputted from the manipulator.
 2. Therobot system of claim 1, wherein the manipulator includes: a manipulatorbody being operated by the operator; a plurality of mechanicalstimulators, provided to the manipulator body corresponding to theplurality of pressure sensors, and configured to give a mechanicalstimulation distribution according to the pressure distribution definingthe tactile information outputted from the tactile informationgenerator, to the hand of the operator who manipulates the manipulator;and a manipulation detector configured to detect the manipulation to themanipulator body, and output the detected manipulation as themanipulating information.
 3. The robot system of claim 2, wherein theplurality of mechanical stimulators are a plurality of pressing elementsconfigured to give a pressing-force distribution according to thepressure distribution defining the tactile information outputted fromthe tactile information generator, to the hand of the operator whomanipulates the manipulator.
 4. The robot system of claim 3, wherein thepressing element is a piezo-electric element.
 5. The robot system ofclaim 2, wherein the plurality of mechanical stimulators are a pluralityof oscillators configured to give an oscillating distribution accordingto the pressure distribution defining the tactile information outputtedfrom the tactile information generator, to the hand of the operator whomanipulates the manipulator.
 6. The robot system of claim 2, wherein themanipulator body of the manipulator is a glove being worn by theoperator.
 7. The robot system of claim 2, wherein the manipulationdetector includes a displacement sensor provided to the manipulator bodyof the manipulator, and is configured to detect the manipulation to themanipulator body based on a displacement of the manipulator bodydetected by the displacement sensor.